Detailed Description

The laser interface provides access to a single-origin scanning range sensor, such as a SICK laser range-finder (e.g., sicklms200).

Devices supporting the laser interface can be configured to scan at different angles and resolutions. As such, the data returned by the laser interface can take different forms. To make interpretation of the data simple, the laser data packet contains some extra fields before the actual range data. These fields tell the client the starting and ending angles of the scan, the angular resolution of the scan, and the number of range readings included. Scans proceed counterclockwise about the laser (0 degrees is forward). The laser can return a maximum of 401 readings; this limits the valid combinations of scan width and angular resolution.

The scan configuration (resolution, aperture, etc) can be queried using the PLAYER_LASER_GET_CONFIG request and modified using the PLAYER_LASER_SET_CONFIG request. Read the documentation for your driver to determine what configuration values are permissible.